Method for dynamically calibrating an image capture device

ABSTRACT

A method for dynamically calibrating an image capture device comprises: a) determining a distance (D CRT , D EST ) to an object within a scene; b) determining a first lens actuator setting (DAC INIT ) for the determined distance; c) determining a second lens actuator setting (DAC FOCUS ) providing maximum sharpness for the object in a captured image of the scene; and d) storing the determined distance (D CRT , D EST ) and the first and second lens actuator settings. These steps are repeated at a second determined distance separated from the first determined distance. A calibration correction (ERR NEAR   PLP , ERR FAR   PLP ) for stored calibrated lens actuator settings (DAC NEAR   PLP , DAC FAR   PLP ) is determined as a function of at least: respective differences between the second lens actuator setting (DAC FOCUS ) and the first lens actuator setting (DAC INIT ) for each of the first and second determined distances; and the stored calibrated lens actuator settings are adjusted according to the determined calibration corrections.

FIELD

The present invention relates to a method for dynamically calibrating animage capture device.

BACKGROUND

Referring now to FIG. 1, a typical auto-focus (AF) module 10 for acamera module 12 within an image capture device can obtain an estimatefor the distance from the camera module to the target object, forexample, from a laser device or stereo camera system 14.

Knowing the estimated subject distance, the auto-focus module 10 cancompute a required physical position for a lens 16 to bring the targetobject into focus. As explained in WO 2016/000874 (Ref: FN-396-PCT), thedisclosure of which is herein incorporated by reference, lens positionis typically controlled by a lens actuator 18 which is driven by adigital to analog convertor (DAC)—often using an 8-bit DAC code with 255distinct voltage output levels, or a 10-bit DAC code with 1024 voltagelevels—provided by the AF module 10. Thus the AF module 10 determines arequired DAC code for a subject distance and the DAC converts the DACcode into an equivalent analog actuator voltage or current valuedepending on the actuator output circuitry, for example, depending onwhether the lens 16 comprises a VCM (voice coil module) or MEMs(micro-electromechanical systems) lens actuator, to determine the lensposition.

Once the relationship between DAC code and lens position is determined,for example, there can be a linear relationship between the two, thecamera module can be calibrated by adjusting the DAC codes for infinityand macro distances:

DAC _(FAR)[t] physical lens position to focus at far (infinity) distanceat time[t]  [1]

DAC _(NEAR)[t] physical lens position to focus at near (macro) distanceat time[t]  [2]

These calibration parameters can be determined during a production lineprocess (PLP) and their values stored in a non-volatile memory 20 insidethe camera module 12 or elsewhere in the camera.

Thus, the auto-focus module 10 can determine the required DAC code to besupplied to the lens actuator 18 as a function of the distance to thetarget object as well as DAC_(NEAR)[t] and DAC_(FAR)[t].

It is known that the camera module 12 may be affected by operatingconditions such as SAG (gravity influence) or thermal (temperatureinfluence) and WO 2016/000874 (Ref: FN-396-PCT) discloses some methodsto compensate for SAG and thermal effects by adjusting DAC_(NEAR)[t] andDAC_(FAR) [t] according to operating conditions.

Nonetheless, there may be other components contributing to calibrationerror including inaccuracies, due to some limitations of the PLP or, asdisclosed in WO 2016/000874 (Ref: FN-395-PCT), camera module performancedrifting over time, for example, due to device aging or even deviceon-time.

If PLP, SAG or thermal errors are not compensated accordingly, the DACcode computed by AF module will not provide proper focus on the targetobject.

The camera module may then be required to hunt for focus and this bothimpacts adversely on focus speed as well as causing an unacceptable lenswobble effect within a preview stream.

It is an object of the present application to mitigate these problems.

SUMMARY

According to the present invention there is provided a method fordynamically calibrating an image capture device according to claim 1.

According to a second aspect there is provided a computer programproduct comprising a computer readable medium on computer readableinstructions are stored and which when executed on an image capturedevice are arranged to perform the steps of claim 1.

According to a third aspect there is provided an image capture deviceconfigured to perform the steps of claim 1.

The present method runs on an image capture device, possibly within acamera module, and dynamically compensates for calibration errors whilethe user is operating the device.

The method does not affect the production line process and collects thenecessary data while the user is operating the device, without adverselyaffecting the user experience. The method can improve auto-focus speedand minimize lens wobble when estimating the calibration error and thenupdating the calibration parameters.

The method can be triggered from time to time to check if thecalibration parameters haven't been affected by for example, cameraageing, and if so, perform the necessary corrections.

BRIEF DESCRIPTION OF THE DRAWINGS

An embodiment of the invention will now be described, by way of example,with reference to the accompanying drawings, in which:

FIG. 1 illustrates schematically a typical auto-focusing camera module;

FIG. 2 illustrates a method for dynamically calibrating an image capturedevice according to a first embodiment of the present invention; and

FIG. 3 illustrates a method for dynamically calibrating an image capturedevice according to a second embodiment of the present invention.

DESCRIPTION OF THE EMBODIMENT

Calibration errors, other than those caused by SAG or thermal effectsand referred to herein generally as PLP errors can be quantified asfollows:

$\quad\left\{ \begin{matrix}{{ERR}_{FAR}^{PLP} = {{{DAC}_{FAR}\lbrack t\rbrack} - {{DAC}_{FAR}^{PLP}\mspace{320mu}\lbrack 3\rbrack}}} \\{{ERR}_{NEAR}^{PLP} = {{{DAC}_{NEAR}\lbrack t\rbrack} - {{DAC}_{NEAR}^{PLP}\mspace{281mu}\lbrack 4\rbrack}}}\end{matrix} \right.$

where:

DAC_(FAR) ^(PLP) and DAC_(NEAR) ^(PLP) are the stored calibrationparameters for the camera module (CM). This can be measured anddetermined at production time, or they can be updated from time to timeduring camera operation as disclosed in WO 2016/000874 (Ref:FN-395-PCT).

Thus, DAC_(FAR)[t] and DAC_(NEAR)[t] are the desired correctedcalibration parameters at time [t], while ERR_(FAR) ^(PLP) andERR_(NEAR) ^(PLP) are the respective errors in these parameters.

To illustrate the impact of the errors in equations [3] and [4] againstthe final focus position, let us assume a target object is placed atdistance [D] from the camera. Typically, in a handheld image capturedevice such as a consumer camera, smartphone, tablet computer orequivalent, the object of interest is a human face. The correspondinglens position [DAC_(D)] to focus at distance [D] is given by thefollowing formula:

$\begin{matrix}{{DAC}_{D} = {{{DAC}_{FAR}\lbrack t\rbrack} + {\frac{1}{m}*\left( {L_{D} - L_{FAR}} \right)}}} & \lbrack 5\rbrack\end{matrix}$

Assuming a linear DAC function, the additional parameters together withtheir formula are detailed in table 1:

TABLE 1 List of parameters used for mapping the distance to the lensposition (DAC) Parameter Description Unit Formula DAC_(FAR) ^([t]) See[1] DAC codes ERR_(FAR) ^(PLP) + DAC_(FAR) ^(PLP)  [6] DAC_(NEAR) ^([t])See [2] DAC codes ERR_(NEAR) ^(PLP) + DAC_(NEAR) ^(PLP)  [7] m Actuationslope mm/ DAC codes$\frac{L_{NEAR} - L_{FAR}}{{{DAC}_{NEAR}\lbrack t\rbrack} - {{DAC}_{FAR}\lbrack t\rbrack}}$ [8] L_(FAR) Lens displacement to focus at D_(FAR) mm$L_{FAR} = \frac{f^{2}}{D_{FAR} - f}$  [9] L_(NEAR) Lens displacement tofocus at D_(NEAR) mm $L_{NEAR} = \frac{f^{2}}{D_{NEAR} - f}$ [10] L_(D)Lens displacement to focus at current distance [D] mm$L_{D} = \frac{f^{2}}{D - f}$ [11] D_(FAR) Far distance (set by CM mm —manufacturer) D_(NEAR) Near distance (set by CM mm — manufacturer) fFocal length of the system mm —

Nonetheless, it will be appreciated that the invention is alsoapplicable to a non-arithmetic, but nonetheless linear relationshipbetween DAC codes and lens position.

Equations [9], [10] and [11] are derived from thin lens equation:

$\frac{1}{f} = {\frac{1}{f + L_{D}} + \frac{1}{D}}$

Replacing [6], [7], [8] in [5], the new formula for computing the DACvalue becomes:

$\quad\left\{ \begin{matrix}{{DAC}_{D} = {{DAC}_{D}^{INIT} + {{ERR}_{D}\mspace{371mu}\lbrack 12\rbrack}}} \\{{Where}\text{:}} \\{{DAC}_{D}^{INIT} = {{DAC}_{FAR}^{PLP} + {\frac{\left( {{DAC}_{NEAR}^{PLP} - {DAC}_{FAR}^{PLP}} \right)*\left( {L_{D} - L_{FAR}} \right)}{\left( {L_{NEAR} - L_{{FAR})}} \right.}\mspace{14mu}\lbrack 13\rbrack}}} \\{{ERR}_{D} = {{ERR}_{FAR}^{PLP} + {\left( {{ERR}_{NEAR}^{PLP} - {ERR}_{FAR}^{PLP}} \right)*{\frac{\left( {L_{D} - L_{FAR}} \right)}{\left( {L_{NEAR} - L_{FAR}} \right)}\mspace{25mu}\lbrack 14\rbrack}}}}\end{matrix} \right.$

Replacing [9], [10], [11] in [13] and [14], the final formula whichestimates the DAC value is given by:

$\quad\left\{ \begin{matrix}{{DAC}_{D} = {{DAC}_{D}^{INIT} + {{ERR}_{D}\mspace{580mu}\lbrack 15\rbrack}}} \\{{Where}\text{:}} \\{{DAC}_{D}^{INIT} = {{DAC}_{FAR}^{PLP} + {\left( {{DAC}_{NEAR}^{PLP} - {DAC}_{FAR}^{PLP}} \right)*\frac{\left( {D_{FAR} - D} \right)}{\left( {D_{FAR} - D_{{NEAR})}} \right.}*{\frac{\left( {D_{NEAR} - f} \right)}{\left( {D - f} \right)}\mspace{20mu}\lbrack 16\rbrack}}}} \\{{ERR}_{D} = {{ERR}_{FAR}^{PLP} + {\left( {{ERR}_{NEAR}^{PLP} - {ERR}_{FAR}^{PLP}} \right)*\frac{\left( {D_{FAR} - D} \right)}{\left( {D_{FAR} - D_{{NEAR})}} \right.}*{\frac{\left( D_{{NEAR} - f} \right)}{\left( {D - f} \right)}\mspace{85mu}\lbrack 17\rbrack}}}}\end{matrix} \right.$

ERR_(D) is the overall error generated by PLP errors (ERR_(FAR) ^(PLP)and ERR_(NEAR) ^(PLP)).

Referring now to FIG. 2, the first step of a compensation methodaccording to one embodiment is to collect input data in an internalbuffer (BUFF) while the user is operating the camera. This process canbe done transparently without affecting the user experience. An inputrecord should contain the data summarized in table 2. The buffer shouldhave enough space to store at least 2 records.

TABLE 2 Dynamic compensation input data Data Description Unit T_(CRT)Current sensor temperature (provided by Celsius the internal thermalsensor of the CM) degrees O_(CRT) Current device orientation relative toDegrees horizontal plane (estimated from the output of the deviceaccelerometer) D_(CRT) Current estimated distance to the Millimetersobject (provided by AF algorithm) DAC_(D) _(CRT) ^(INIT) Initial lensposition (provided by DAC codes AF algorithm based on D_(CRT)). DAC_(D)_(CRT) ^(FOCUS) Focus lens position (provided by DAC codes AF algorithmat optimal focus)

Sensor temperature [T_(CRT)] and device orientation [O_(CRT)] are usedto adjust the original calibration parameters to compensate for the CMbeing affected by SAG (gravity) or thermal effects, as disclosed in WO2016/000874 (Ref: FN-395-PCT). To briefly explain how to compensate SAGand thermal effects, assume that during production, the CM orientationwas O_(PLP) and the sensor temperature was T_(PLP).

If the CM is affected by SAG, O_(CRT)≠O_(PLP), then the originalcalibration parameters are converted into the O_(CRT) range. In thepresent description, this transformation function is represented as SAGbelow:

[DAC_(FAR) ^(PLP), DAC_(NEAR) ^(PLP)]_(O) _(CRT) =SAG(DAC_(FAR) ^(PLP),DAC_(NEAR) ^(PLP), O_(PLP), O_(CRT))

If the CM is not affected by SAG, the calibration parameters will remainunchanged: [DAC_(FAR) ^(PLP), DAC_(NEAR) ^(PLP)]_(O) _(CRT) =[DAC_(FAR)^(PLP), DAC_(NEAR) ^(PLP)]

If the CM is affected by thermal effect, T_(CRT)≠T_(PLP), then thecalibration parameters after SAG correction are converted into theT_(CRT) range. Again, a transformation function, called TH below, can beused: [DAC_(FAR) ^(PLP), DAC_(NEAR) ^(PLP)]_(T) _(CRT) =TH([DAC_(FAR)^(PLP), DAC_(NEAR) ^(PLP)]_(O) _(CRT) , T_(PLP), T_(CRT))

If the CM is not affected by thermal effects, then the calibrationparameters resulting from any SAG correction will remain unchanged:[DAC_(FAR) ^(PLP), DAC_(NEAR) ^(PLP)]_(T) _(CRT) =[DAC_(FAR) ^(PLP),DAC_(NEAR) ^(PLP)]_(O) _(CRT)

Note that in each case SAG( ) and TH( ) can involve lookup tables, andagain details of how to adjust the DAC_(FAR) ^(PLP) and DAC_(NEAR)^(PLP) values to take into account temperature and orientation aredisclosed in WO 2016/000874 (Ref: FN-395-PCT).

At this point, PLP errors are unknown. For estimating them, data iscollected during AF module operation as follows:

-   -   1. Estimate [D_(CRT)] using the laser device or a stereo camera        system 14;    -   2. Use [16] to compute the initial lens position [DAC_(D) _(CRT)        ^(INIT)]

${DAC}_{D_{CRT}}^{INIT} = {{DAC}_{FAR}^{PLP} + {\left( {{DAC}_{NEAR}^{PLP} - {DAC}_{FAR}^{PLP}} \right)*\frac{\left( {D_{FAR} - D_{CRT}} \right)}{\left( {D_{FAR} - D_{{NEAR})}} \right.}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{CRT} - f} \right)}}}$

-   -   3. Set the lens position to DAC_(D) _(CRT) ^(INIT) and start        searching the focus position around DAC_(D) _(CRT) ^(INIT). The        lens should be moved forth or back until the best contrast value        is achieved. The lens position with the best contrast value will        be the focus position [DAC_(D) _(CRT) ^(FOCUS)]

For large PLP errors, the DAC DAC_(D) _(CRT) ^(FOCUS) focus positionwill be far from the initial position DAC DAC_(D) _(CRT) ^(INIT). Thefocus speed will be slow and the lens wobble effect strongly visible.For small errors, the DAC DAC_(D) _(CRT) ^(FOCUS) focus position will becloser to the initial position DAC_(D) _(CRT) ^(INIT). The focus speedwill be higher and the lens wobble effect less visible.

The goal of dynamic compensation method is to use the above data(provided by steps 1, 2 and 3) to estimate PLP errors. Once theestimation is done, the calibration parameters (DAC_(FAR) ^(PLP),DAC_(NEAR) ^(PLP)) will be properly updated and the lens positionprovided by [16] will be the focus position. Focus sweeping will not benecessary anymore, and thus the AF module speed will be improved and thelens wobble effect reduced.

One way to define sufficiently good accuracy, is to restrict the errorsof [D_(CRT)] and [DAC_(D) _(CRT) ^(INIT)] to less than set thresholds asfollows:

$\begin{matrix}{{{err}_{D_{CRT}}} < \frac{{DOF}_{D_{CRT}}}{4}} & \lbrack 18\rbrack \\{{{err}_{{DAC}_{D_{CRT}}^{FOCUS}}} < \frac{{DAC}_{STEP}}{2}} & \lbrack 19\rbrack\end{matrix}$

To understand the meaning of DOF_(D) _(CRT) , and DAC_(STEP), additionalparameters are summarized in table 3.

TABLE 3 DOF Parameters Parameter Description Unit Formula DOF_(D) Depthof field at mm DOF_(D) = D_(F) − D_(N) [20] distance [D] D_(F) Far limitof DOF at distance [D] mm$D_{F} = \frac{{Df}^{2}}{f^{2} - {{Nc}\left( {D - f} \right)}}$ [21]D_(N) Near limit of DOF at distance [D] mm$D_{N} = \frac{{Df}^{2}}{f^{2} + {{Nc}\left( {D - f} \right)}}$ [22] NRelative aperture (F#) — — of the lens system c Circle of confusion mm c= 2 * P_(S) [23] P_(S) Pixel size mm — f Focal length of mm — the system

DAC_(STEP) is the absolute difference between the corresponding DACvalues at D_(F) and D_(N) distances. Using [15], [16] and assumingERR_(D) _(F) ≈ERR_(D) _(N) , an estimated value of DAC_(STEP) is givenby:

$\begin{matrix}{{DAC}_{STEP} = {{{{{DAC}_{D_{F}} - {DAC}_{D_{N}}}}{DAC}_{STEP}} = {{\frac{\left( {{DAC}_{NEAR}^{PLP} - {DAC}_{FAR}^{PLP}} \right)*\left( {D_{NEAR} - f} \right)*\left( {D_{FAR} - f} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}}*{\frac{\left( {D_{N} - D_{F}} \right)}{\left( {D_{F} - f} \right)*\left( {D_{N} - f} \right)}}}}} & \lbrack 24\rbrack\end{matrix}$

DAC_(STEP) should be a constant value (should not vary with the distanceD).

The second step of the compensation method is to estimate the errors [3]and [4] and to update the calibration parameters. It requires, two inputrecords (T_(CRT), O_(CRT), D_(CRT), DAC_(D) _(CRT) ^(INIT), DAC_(D)_(CRT) ^(FOCUS)) which satisfy the following condition: [D₁ _(F) , D₁_(N) ]∩[D₂ _(F) , D₂ _(N) ]=Ø[25]

where:

[T₁, O₁, D₁, DAC_(D) ₁ ^(INIT), DAC_(D) ₁ ^(FOCUS)] is the first record.

[T₂, O₂, DAC_(D) ₂ ^(INIT), DAC_(D) ₂ ^(FOCUS)] is the second record.

[D₁ _(F) , D₁ _(N) ] is the DOF range at first distance D₁ (D₁ _(F) isthe far limit, D₁ _(N) is the near limit).

[D₂ _(F) , D₂ _(N) ] is the DOF range at second distance D₂ (D₂ _(F) isthe far limit, D₂ _(N) is the near limit).

If the test of equation [25] is satisfied (the two distances are quitedifferent), then using [15] and replacing [DAC_(D), D] with [DAC_(D) ₁^(FOCUS), D₁] and [DAC_(D) ₂ ^(FOCUS), D₂], the resulting ERR_(D) ₁ andERR_(D) ₂ are:

ERR _(D) ₁ =DAC _(D) ₁ ^(FOCUS) −DAC _(D) ₁ ^(INIT)  [26]

ERR _(D) ₂ =DAC _(D) ₂ ^(FOCUS) −DAC _(D) ₂ ^(INIT)  [26]

where:

DAC_(D) ₁ ^(INIT) and DAC_(D) ₂ ^(INIT) are computed using [16].

Using [17] and replacing [ERR_(D), D] with [ERR_(D) ₁ , D₁] and [ERR_(D)₂ , D₂], it results the following linear system:

$\left\{ \begin{matrix}{{ERR}_{D_{1}} = {{ERR}_{FAR}^{PLP} + {\left( {{ERR}_{NEAR}^{PLP} - {ERR}_{FAR}^{PLP}} \right)*\frac{\left( {D_{FAR} - D_{1}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{1} - f} \right)}}}} \\{{ERR}_{D_{2}} = {{ERR}_{FAR}^{PLP} + {\left( {{ERR}_{NEAR}^{PLP} - {ERR}_{FAR}^{PLP}} \right)*\frac{\left( {D_{FAR} - D_{2}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{2} - f} \right)}}}}\end{matrix}\quad \right.$

To simplify the above system, the following substitutions will be done:

$\begin{matrix}\left\{ \begin{matrix}{\propto_{D_{1}}{= {\frac{\left( {D_{FAR} - D_{1}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{1} - f} \right)}}}} \\{\propto_{D_{2}}{= {\frac{\left( {D_{FAR} - D_{2}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{2} - f} \right)}}}}\end{matrix}\quad \right. & \begin{matrix}\lbrack 28\rbrack \\\; \\\lbrack 29\rbrack\end{matrix}\end{matrix}$

The new system becomes:

$\left\{ \begin{matrix}{{ERR}_{D_{1}} = {{{{ERR}_{FAR}^{PLP}\left( {{1 -} \propto_{D_{1}}} \right)} +} \propto_{D_{1}}{ERR}_{NEAR}^{PLP}}} \\{{ERR}_{D_{2}} = {{{{ERR}_{FAR}^{PLP}\left( {{1 -} \propto_{D_{2}}} \right)} +} \propto_{D_{2}}{ERR}_{NEAR}^{PLP}}}\end{matrix}\quad \right.$

PLP errors can now be estimated with the following formulae:

$\begin{matrix}\left\{ \begin{matrix}{{ERR}_{FAR}^{PLP} = \frac{\propto_{D_{2}}{{*{ERR}_{D_{1}}} -} \propto_{D_{1}}{*{ERR}_{D_{2}}}}{\propto_{D_{2}}{- \propto_{D_{1}}}}} \\{{ERR}_{NEAR}^{PLP} = \frac{{\left( {{1 -} \propto_{D_{2}}} \right)*{ERR}_{D_{1}}} - {\left( {{1 -} \propto_{D_{1}}} \right)*{ERR}_{D_{2}}}}{\propto_{D_{1}}{- \propto_{D_{2}}}}}\end{matrix}\quad \right. & \begin{matrix}\lbrack 30\rbrack \\\; \\\lbrack 31\rbrack\end{matrix}\end{matrix}$

where:

ERR_(D) ₁ and ERR_(D) ₂ are computed using [26] and [27].

∝D₁ and ∝D₂ are computed using [28] and [29].

The new updated calibration parameters (which should be used further toimprove AF module speed and reduced lens wobble effect) are:

$\begin{matrix}\left\{ \begin{matrix}{{DAC}_{FAR}^{NEW} = {{DAC}_{FAR}^{PLP} + {ERR}_{FAR}^{PLP}}} \\{{DAC}_{NEAR}^{NEW} = {{DAC}_{NEAR}^{PLP} + {ERR}_{NEAR}^{PLP}}}\end{matrix} \right. & \begin{matrix}\lbrack 32\rbrack \\\lbrack 33\rbrack\end{matrix}\end{matrix}$

In a second embodiment of the present invention, instead of directlymeasuring a distance to an object in a scene being imaged, the distancecan be estimated based on an assumed dimension of an object beingimaged, for example, a face. More details about estimating the distancebased on face information or indeed any recognizable object with a knowndimension can be found in U.S. Pat. No. 8,970,770 (Ref: FN-361) and WO2016/091545 (Ref: FN-399), the disclosures of which are hereinincorporated by reference.

However, as disclosed in WO 2016/091545 (Ref: FN-399), care should betaken when doing so to ensure that the object is not a false image of anobject, for example, a billboard showing a large face, or a smallprinted face or a small child's face, where the assumed dimension maynot apply. Thus, the second embodiment aims to provide dynamiccompensation to estimate ERR_(PLP) while taking into account that falsefaces may be present in a scene.

Let assume the distance from the face to the image acquisition device is[D]. The current estimated distance [D_(EST)] to that face is computedwith the following formula:

$\begin{matrix}{D_{EST} = {f*\frac{ed}{{edp}*P_{S}}}} & \lbrack 34\rbrack\end{matrix}$

where:

-   -   f represents the focal length of the lens system    -   P_(S) is the pixel size    -   ed represents the assumed dimension, in this case, eye distance        in millimeters for a human face (ed=70 mm)    -   edp represents the computed eye distance in pixels within the        detected face region

For those human faces (where ed≈70 mm), formula [1] will provide a goodestimation of the distance (D_(EST)≈D).

For false faces (ex. a small printed face with ed 20 mm), formula [1]will provide a wrong distance because it assumes that ed=70 mm.

The lens position [DAC_(E)] to focus at distance [D] is given by thefollowing formula:

DAC _(D) =DAC _(D) _(EST) ^(INIT) +ERR _(D)  [2]

where:

DAC_(D) _(EST) ^(INIT), the initial lens position computed based onestimated distance [D_(EST)], can be calculated as per DAC_(D) _(CRT)^(INIT) in equation [16]; and

ERR _(D) =ERR _(PLP) +ERR _(D) _(EST)   [35]

Note that in this example, near and far PLP errors are assumed to bealmost the same (ERR_(FAR) ^(PLP)≈ERR_(NEAR) ^(PLP)≈ERR_(PLP)) andERR_(D) _(EST) represents an error caused by the wrong estimation of thedistance to an object.

Referring now to FIG. 3, again the first step of dynamic compensationmethod is to collect into an internal buffer (BUFF) the necessary inputdata while the user is operating the camera. This process should be donetransparently without affecting the user experience. Again, an inputrecord should contain the data summarized in table 2, but instead of themeasured

D_(CRT) of the first embodiment, D_(EST) the estimated distance is used.The buffer should have enough space to store at least 2 records.

The second step of dynamic compensation process is to estimate ERR_(PLP)and to update the calibration parameters. The embodiment attempts toimage a given face at two separate distances, although in variants ofthe embodiment, measurements from images of different faces could beemployed. In any case as in the first embodiment, two input records(T_(CRT), O_(CRT)) D_(EST), DAC_(D) _(EST) ^(INIT), DAC_(D) _(EST)^(FOCUS)) are required which satisfy the following conditions:

a)[D₁ _(F) , D₁ _(N) ]∩[D₂ _(F) , D₂ _(N) ]=Ø

where:

-   -   [T₁, O₁, D₁, DAC_(D) ₁ ^(INIT), DAC_(D) ₁ ^(FOCUS)] is the first        record;    -   [T₂, O₂, D₂, DAC_(D) ₂ ^(INIT), DAC_(D) ₂ ^(FOCUS)] is the        second record;    -   [D₁ _(F) , D₁ _(N) ] is the DOF range for the first estimated        distance (D₁ _(F) is the far limit, D₁ _(N) is the near limit);        and    -   [D₂ _(F) , D₂ _(N) ] is the DOF range for the second estimated        distance (D₂ _(F) is the far limit, D₂ _(N) is the near limit).

b) |ERR₁|≤N*DAC_(STEP)

-   -   |ERR₂|≤N*DAC_(STEP)    -   |ERR₁−ERR₂|<DAC_(STEP)/2        where    -   DAC_(STEP) is determined as per equation [24] of the first        embodiment;

$\begin{matrix}{{{ERR}_{1}\overset{\overset{\lbrack 2\rbrack}{}}{=}{{DAC}_{D_{1}}^{FOCUS} - {DAC}_{D_{1}}^{INIT}}};{and}} & \lbrack 36\rbrack \\{{ERR}_{2}\overset{\overset{\lbrack 2\rbrack}{}}{=}{{DAC}_{D_{2}}^{FOCUS} - {{DAC}_{D_{2}}^{INIT}.}}} & \lbrack 37\rbrack\end{matrix}$

As before, the first condition (a), requires that the two distancesshould be different.

The second condition (b), requires that the object being imaged indeedexhibits the assumed dimension so that a given face to be a live humanface, ed≈70 mm. In this case, the errors should not be larger than themaximum error (N*DAC_(STEP)) and they should be quite similar (thedifference should not be higher than half DAC_(STEP)). This conditionassures that ERR_(EST)≈0 and ERR_(D)≈ERR_(PLP) as in the firstembodiment.

If the current face is false (condition (b) is not respected), and socompensation must not be done until a new valid face is received.

If conditions (a) and (b) are respected, them ERR_(PLP) will beestimated as follows:

$\begin{matrix}{{ERR}_{PLP} = \frac{{ERR}_{1} + {ERR}_{2}}{2}} & \lbrack 38\rbrack\end{matrix}$

The new updated calibration parameters (which should be used further toimprove AF speed and reduced lens wobble effect) are:

$\begin{matrix}\left\{ \begin{matrix}{{DAC}_{FAR}^{NEW} = {{DAC}_{FAR}^{PLP} + {ERR}_{PLP}}} \\{{DAC}_{NEAR}^{NEW} = {{DAC}_{NEAR}^{PLP} + {ERR}_{PLP}}}\end{matrix} \right. & \begin{matrix}\lbrack 39\rbrack \\\lbrack 40\rbrack\end{matrix}\end{matrix}$

As indicated, the maximum estimated error should not be higher thanN*DAC_(STEP) (ERR^(PLP)<N*DAC_(STEP)). The value of N can be determinedby the image acquisition device or camera module manufacturer accordingto how tightly they wish the estimated compensation process to operate.Thus, the larger the value of N the greater the possibility ofcalibrating based on a poorly estimated distance to an object.

It will be appreciated that many variations of the above describedembodiments are possible and that for example features and functionsdescribed in relation to the first embodiment are applicable to thesecond embodiment and vice versa where possible.

1. A method for dynamically calibrating an image capture devicecomprising: a) determining a distance (D_(CRT), D_(EST)) to an objectwithin a scene being imaged by said image capture device; b) determininga first lens actuator setting (DAC^(INIT)) as a function of: a storedcalibrated lens actuator setting (DAC_(NEAR) ^(PLP)) for apre-determined near focus distance (D_(NEAR)), a stored calibrated lensactuator setting (DAC_(FAR) ^(PLP)) for a pre-determined far focusdistance (D_(FAR)), a focal length (f) of the image capture device andsaid determined distance (D_(CRT), D_(EST)); c) determining a secondlens actuator setting (DAC^(FOCUS)) providing maximum sharpness for saidobject in a captured image of said scene; and d) storing said determineddistance (D_(CRT), D_(EST)), first lens actuator setting (DAC^(INIT))and second lens actuator setting (DAC^(FOCUS)); e) subsequentlyrepeating steps a) to c) at a second determined distance separated fromsaid first determined distance; f) determining a calibration correction(ERR_(NEAR) ^(PLP), ERR_(FAR) ^(PLP)) for each of said calibrated lensactuator settings (DAC_(NEAR) ^(PLP), DAC_(FAR) ^(PLP)) as a function ofat least: respective differences between said second lens actuatorsetting (DAC^(FOCUS)) and said first lens actuator setting (DAC^(INIT))for each of said first and second determined distances; and g) adjustingthe stored calibrated lens actuator settings according to saiddetermined calibration corrections.
 2. A method according to claim 1further comprising, prior to said step of determining a first lensactuator setting (DAC^(INIT)), adjusting said stored calibrated lensactuator settings (DAC_(NEAR) ^(PLP), DAC_(FAR) ^(PLP)) as a function ofan operating temperature of the device and/or a function of an operatingorientation of the device; and storing said operating temperature and/oroperating orientation of the device with said determined distance(D_(CRT), D_(EST)), first lens actuator setting (DAC^(INIT)) and secondlens actuator setting (DAC^(FOCUS)).
 3. A method according to claim 1wherein determining said second lens actuator setting (DAC^(FOCUS))comprises beginning a search using said first lens actuator setting. 4.A method according to claim 1 wherein said first and second determineddistances are separated from one another by at least the respectivedepths of field at said first and second determined distances.
 5. Amethod according to claim 1 comprising periodically repeating steps a)to g).
 6. A method according to claim 1 wherein there is a linearrelationship between a lens actuator setting and a lens positionrequired to focus at a given distance.
 7. A method according to claim 1wherein determining said first lens actuator setting (DAC^(INIT)) isbased on the following formula:${DAC}^{INIT} = {{DAC}_{FAR}^{PLP} + {\left( {{DAC}_{NEAR}^{PLP} - {DAC}_{FAR}^{PLP}} \right)*\frac{\left( {D_{FAR} - D_{{CRT},{EST}}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{{CRT},{EST}} - f} \right)}}}$where DAC_(FAR) ^(PLP) is said stored calibrated lens actuator settingfor a pre-determined far focus distance; DAC_(NEAR) ^(PLP) is storedcalibrated lens actuator setting for a pre-determined near focusdistance; D_(FAR) is said far focus distance D_(NEAR) is said near focusdistance D_(CRT,EST) is said determined distance; and f is said focallength.
 8. The method of claim 1 wherein said step of determining saiddistance to an object comprises measuring said distance (D_(CRT)).
 9. Amethod according to claim 1 comprising determining said calibrationcorrection (ERR_(NEAR) ^(PLP), ERR_(FAR) ^(PLP)) for each of saidcalibrated lens actuator settings (DAC_(NEAR) ^(PLP), DAC_(FAR) ^(PLP))as a function of: respective differences between said second lensactuator setting (DAC_(D) _(CRT) ^(FOCUS)) and said first lens actuatorsetting (DAC_(D) _(CRT) ^(INIT)) for each of said first and seconddetermined distances; respective differences between said first andsecond determined distances and one of said pre-determined near or farfocus distances; a difference between said pre-determined near and farfocus distances; and respective differences between said first andsecond determined distances and said focal length (f).
 10. A methodaccording to claim 9 wherein said calibration correction for each ofsaid calibrated lens actuator settings, ERR_(FAR) ^(PLP) and ERR_(NEAR)^(PLP), is calculated according to the following formulae:$\left\{ \begin{matrix}{{ERR}_{FAR}^{PLP} = \frac{\propto_{D_{2}}{{*{ERR}_{D_{1}}} -} \propto_{D_{1}}{*{ERR}_{D_{2}}}}{\propto_{D_{2}}{- \propto_{D_{1}}}}} \\{{ERR}_{NEAR}^{PLP} = \frac{{\left( {{1 -} \propto_{D_{2}}} \right)*{ERR}_{D_{1}}} - {\left( {{1 -} \propto_{D_{1}}} \right)*{ERR}_{D_{2}}}}{\propto_{D_{1}}{- \propto_{D_{2}}}}}\end{matrix}\quad \right.$ where D₁ and D₂ are said first and seconddetermined distances respectively, ERR_(D) ₁ and ERR_(D) ₂ are computedusing the following formula:ERR _(D) ₁ =DAC _(D) ₁ ^(FOCUS) −DAC _(D) ₁ ^(INIT)ERR _(D) ₂ =DAC _(D) ₂ ^(FOCUS) −DAC _(D) ₂ ^(INIT) and ∝_(D) ₁ and∝_(D) ₂ are computed using the following formulae:$\left\{ \begin{matrix}{\propto_{D_{1}}{= {\frac{\left( {D_{FAR} - D_{1}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{1} - f} \right)}}}} \\{\propto_{D_{2}}{= {\frac{\left( {D_{FAR} - D_{2}} \right)}{\left( {D_{FAR} - D_{NEAR}} \right)}*\frac{\left( {D_{NEAR} - f} \right)}{\left( {D_{2} - f} \right)}}}}\end{matrix}\quad \right..$
 11. A method according to claim 10 whereinsaid adjusting the stored calibrated lens actuator settings comprisesproviding new settings DAC_(FAR) ^(NEW) and DAC_(NEAR) ^(NEW) accordingto the formulae: $\left\{ {\begin{matrix}{{DAC}_{FAR}^{NEW} = {{DAC}_{FAR}^{PLP} + {ERR}_{FAR}^{PLP}}} \\{{DAC}_{NEAR}^{NEW} = {{DAC}_{NEAR}^{PLP} + {ERR}_{NEAR}^{PLP}}}\end{matrix}.} \right.$
 12. The method of claim 1 wherein the object isa human face.
 13. The method of claim 1 wherein said step of determiningsaid distance to an object comprises estimating a distance (D_(EST)) tosaid object based on an imaged size of said object and an assumeddimension of said object.
 14. The method of claim 13 comprising testingwhether a potential correction resulting from an estimated distanceexceeds a threshold value before either: storing said determineddistance, first lens actuator setting and second lens actuator setting;or determining said calibration correction.
 15. The method of claim 14wherein said threshold is a function of an absolute difference(DAC_(STEP)) between the corresponding actuator settings at a far limitof focus (D_(F)) and a near limit of focus (D_(N)) at a given focusdistance (D).
 16. A computer program product comprising a computerreadable medium on computer readable instructions are stored and whichwhen executed on an image capture device are arranged to perform thesteps of claim
 1. 17. An image capture device configured to perform thesteps of claim 1.